Sludge filter press cloth winding and unwinding automatic control method, device, system and equipment

Abstract

The invention discloses an automatic control method for cloth winding and unwinding of a sludge filter press, which comprises the following steps: acquiring real-time running state data of an execution roller, a cloth winding and unwinding roller and a distance measuring sensor, and intelligently judging a working mode and a running stage of cloth winding and unwinding of the sludge filter press; according to the current cloth winding and unwinding working mode and operation stage of the sludge filter press, an operation control strategy of a cloth winding and unwinding roller is flexibly selected and adjusted; according to the selected control strategy, an advanced dynamic control algorithm is adopted, and the running speed of the cloth winding and unwinding roller is automatically controlled in real time; by monitoring the roller diameter of the cloth winding and unwinding roller in real time, the execution and the ending of the cloth winding and unwinding work of the sludge filter press are automatically judged. According to the application, a cloth winding and unwinding control mechanism of the sludge filter press is optimized, efficient and stable automatic operation is realized, and the running speed of the cloth winding and unwinding roller can be automatically controlled in real time by adopting different control strategies according to different working modes, so that the sludge filter press can maintain a stable and efficient working state when executing cloth winding and unwinding operation.

Description

Technical Field

[0001] The present invention relates to the technical field of sludge treatment equipment control in the field of environmental protection, and in particular to an automatic control method, device, system and equipment for retracting and releasing cloth of a sludge filter press. Background Art

[0002] In response to the high-volume challenge faced by the municipal sludge treatment field, the currently used mechanical filter pressing process and its core equipment include sludge filter presses. During the cloth reeling and unwinding operation, the reel diameter changes continuously, usually manifested as: the unwinding diameter usually becomes smaller and smaller, and the reel diameter usually becomes larger and larger. The change in the reel diameter will affect the linear speed of the material reel, making it difficult to maintain a stable linear speed of the material reel. When the reel linear speed is unstable, the synchronization of the reel is reduced, which may cause the reel rhythm to be unstable, and then cause the reel machine to shut down, affecting the efficiency of the reel.

[0003] The existing technology of sludge filter press cloth collection and release operation is still insufficient in terms of technology and application, which is specifically manifested in the instability of cloth collection and release operation, uneven sludge distribution, low distribution efficiency and the automation level needs to be improved. These problems directly restrict the effective use of sludge treatment capacity and the wide promotion of technology. Therefore, this field urgently needs an innovative solution to optimize the cloth collection and release control mechanism of the sludge filter press and achieve efficient and stable automated operation. Summary of the invention

[0004] The object of the present invention is to provide a method, device, system and equipment for automatically controlling the cloth collection and release of a sludge filter press, so as to solve the problem of poor cloth collection and release operation effect in the prior art.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A method for automatically controlling the retracting and releasing of a sludge filter press cloth comprises the following steps:

[0007] Obtain the real-time operating status data of the execution roller, cloth-retracting roller and distance sensor, and intelligently determine the working mode and operating stage of the cloth-retracting roller of the sludge filter press;

[0008] According to the current working mode and operation stage of the cloth retracting and releasing rollers of the sludge filter press, the operation control strategy of the cloth retracting and releasing rollers can be flexibly selected and adjusted;

[0009] According to the selected control strategy, the advanced dynamic control algorithm is adopted to automatically control the running speed of the cloth-retracting and cloth-unretracting rollers in real time.

[0010] The real-time roller diameter of the retracting and releasing cloth roller is obtained according to the distance measuring sensor of the retracting and releasing cloth roller, and it is automatically determined whether to terminate the retracting and releasing work of the sludge filter press.

[0011] As a further solution of the present invention: obtaining the real-time operating status data of the execution roller, the cloth-retracting and -releasing roller and the distance-measuring sensor includes:

[0012] Obtain the running speed and forward and reverse status of the execution roller;

[0013] Obtain the running speed and forward and reverse rotation status of the cloth-retracting and -releasing rollers;

[0014] The real-time roller diameter size of the retractable cloth roller and the remaining amount of filter cloth are obtained through the retractable cloth roller distance measurement sensor;

[0015] The position distance of the end of the tension roller in the waist-shaped chute is obtained through the tension roller distance measuring sensor.

[0016] As a further solution of the present invention: A method for intelligently judging the working mode and operation stage of cloth collecting and releasing of a sludge filter press includes: judging that the cloth collecting and releasing working mode is in cloth collecting mode or cloth releasing mode, and that the corresponding cloth collecting and releasing rollers are in the starting operation stage, automatic operation stage and completion operation stage in the cloth collecting mode or cloth releasing mode.

[0017] As a further solution of the present invention: the method for determining the cloth collection and release working mode includes:

[0018] The cloth-releasing and cloth-retracting working mode is automatically determined based on the forward and reverse state data of the executing roller: when the executing roller is in the forward state, it is determined to be the cloth-releasing working mode, and the cloth-releasing and cloth-retracting roller is set to the forward state; when the executing roller is in the reverse state, it is determined to be the cloth-retracting working mode, and the cloth-releasing and cloth-retracting roller is set to the reverse state.

[0019] As a further solution of the present invention: judging that the cloth-collecting and releasing working mode is in the cloth-collecting mode, the method for flexibly selecting and adjusting the operation control strategy of the cloth-collecting and releasing rollers includes:

[0020] The cloth-retracting and unreeling rollers are in the startup stage, and the tracking control strategy is used. The running speed n of the execution roller feedback obtained in real time z After calculating and adjusting n downward, the final calculated setting of the cloth retracting and unreeling roller running speed N is generated. b , cloth retracting and releasing roller running speed N b The calculation formula is: In the formula, R b is the real-time radius of the retractable and unretractable cloth roller, r z for the execution roller radius;

[0021] When the feedback running speed of the execution roller reaches the preset transfer speed, and the running speed of the cloth-retracting and -releasing roller tracks the running speed of the execution roller and changes stably, the total time is preset to X, and it is judged whether the running time of the cloth-retracting and -releasing roller is greater than the preset total time of X. If it is greater, the cloth-retracting and -releasing roller enters the automatic operation stage, otherwise, the cloth-retracting and -releasing roller is in the start-up operation stage;

[0022] The cloth-retracting and unretracting rollers are in the automatic operation stage, and the PID control strategy is selected, and the advanced dynamic control algorithm is adopted to automatically control the running speed of the cloth-retracting and unretracting rollers in real time.

[0023] As a further solution of the present invention: in the cloth collecting mode, and the cloth collecting and releasing roller is in the automatic operation stage, the method of using the PID control strategy to automatically control the running speed of the cloth collecting and releasing roller in real time includes: obtaining the position distance of the end of the tension roller in the waist-shaped chute according to the tension roller distance sensor, applying the positive action mechanism, and adjusting the running speed of the cloth collecting and releasing roller in real time, wherein the advanced dynamic control algorithm formula is: In the formula, ut is the output for adjusting the running speed of the cloth-retracting and releasing rollers; e(t is the distance error of the tension roller position; K p is the proportional coefficient. According to the position distance error of the end of the tension roller in the waist-shaped chute, the output intensity of the running speed of the retracting and releasing cloth roller is adjusted so that the actual position of the tension roller quickly approaches the expected position. K i is the integral coefficient. According to the position distance error of the end of the tension roller in the waist-shaped chute, the output deviation of the running speed of the retracting and releasing cloth roller is adjusted so that the actual position of the tension roller can finally reach the desired position. K d It is the differential coefficient. According to the position distance error of the end of the tension roller in the waist-shaped chute, the output change of the running speed of the cloth-retracting and releasing rollers is adjusted, so that the actual position of the tension roller is close to the expected position for a long time.

[0024] As a further solution of the present invention: judging that the cloth-retracting and -releasing working mode is in the cloth-releasing mode, and flexibly selecting and adjusting the operation control strategy of the cloth-retracting and -releasing rollers include:

[0025] The cloth-retracting and unreeling rollers are in the startup stage, and the tracking control strategy is used. The running speed n of the execution roller feedback obtained in real time z After calculating and adjusting m, the final calculated and set cloth retracting and unwinding roller running speed N is generated. b , cloth retracting and releasing roller running speed N b The calculation formula is: In the formula, R b is the real-time radius of the retractable and unretractable cloth roller, r z for the execution roller radius;

[0026] When the feedback running speed of the execution roller reaches the preset transfer speed, and the running speed of the cloth-retracting and -releasing roller tracks the running speed of the execution roller and changes stably, the total time is preset to X, and it is judged whether the running time of the cloth-retracting and -releasing roller is greater than the preset total time of X. If it is greater, the cloth-retracting and -releasing roller enters the automatic operation stage, otherwise, the cloth-retracting and -releasing roller is in the start-up operation stage;

[0027] The cloth-retracting and unretracting rollers are in the automatic operation stage, and the PID control strategy is selected, and the advanced dynamic control algorithm is adopted to automatically control the running speed of the cloth-retracting and unretracting rollers in real time.

[0028] As a further solution of the present invention: in the cloth-releasing mode, and the cloth-retracting and cloth-retracting roller is in the automatic operation stage, the method of using the PID control strategy to automatically control the running speed of the cloth-retracting and cloth-retracting roller in real time includes: obtaining the position distance of the end of the tension roller in the waist-shaped chute according to the tension roller distance sensor, applying the reaction mechanism, and adjusting the running speed of the cloth-retracting and cloth-retracting roller in real time, wherein the advanced dynamic control algorithm formula is: In the formula, ut is the output for adjusting the running speed of the cloth-retracting and releasing rollers; e(t) is the distance error of the tension roller position; K p is the proportional coefficient. According to the position distance error of the end of the tension roller in the waist-shaped chute, the output intensity of the running speed of the retracting and releasing cloth roller is adjusted so that the actual position of the tension roller quickly approaches the expected position. K i is the integral coefficient. According to the position distance error of the end of the tension roller in the waist-shaped chute, the output deviation of the running speed of the retracting and releasing cloth roller is adjusted so that the actual position of the tension roller can finally reach the desired position. K d It is the differential coefficient. According to the position distance error of the end of the tension roller in the waist-shaped chute, the output change of the running speed of the cloth-retracting and releasing rollers is adjusted, so that the actual position of the tension roller is close to the expected position for a long time.

[0029] As a further solution of the present invention: the method for automatically determining whether to terminate the cloth collection and release operation of the sludge filter press includes:

[0030] In cloth placing mode, set the lower limit value D of the diameter of the cloth placing and retracting roller lower , when the real-time value of the distance sensor of the retracting and releasing cloth roller is less than D lower , if it is judged that the cloth roller has completed the operation stage, the cloth releasing work of the sludge filter press will be automatically terminated;

[0031] In cloth collecting mode, set the upper limit value D of the diameter of the cloth collecting and releasing rollers upper , when the real-time value of the distance sensor of the retracting and releasing cloth roller is greater than D upper , it is judged that the cloth roller has completed the operation stage, and the cloth collecting work of the sludge filter press is automatically ended.

[0032] An automatic control device for collecting and releasing cloth of a sludge filter press comprises a collecting and releasing cloth roller, a tension roller, a cloth pressing roller and an execution roller for sequentially conveying and transferring filter cloth, a collecting and releasing cloth roller distance measuring sensor is arranged outside the collecting and releasing cloth roller, the collecting and releasing cloth roller distance measuring sensor is used to measure the real-time roller diameter size of the collecting and releasing cloth roller and the remaining amount of filter cloth, a tension roller distance measuring sensor is arranged outside the tension roller, the tension roller distance measuring sensor is used to measure the position distance of the end of the tension roller in a waist-shaped chute, and the execution roller and the cloth pressing roller drive the filter cloth to perform the collecting and releasing cloth work at a fixed running speed by pressing;

[0033] Wherein, when the cloth-retracting and -releasing roller is in the cloth-retracting mode or the cloth-releasing mode, the automatic control method as described above is implemented.

[0034] A cloth retracting and releasing automatic control system for a sludge filter press comprises a cloth retracting and releasing roller distance sensor for measuring the real-time roller diameter size of the cloth retracting and releasing roller and the remaining amount of filter cloth, a tension roller distance sensor for measuring the position distance of the end of the tension roller in a waist-shaped chute, an execution roller for controlling the filter cloth retracting and releasing to run at a fixed speed, and a cloth retracting and releasing roller rotation speed for automatically adapting to the cloth retracting and releasing operation and a processing and storage device as the roller diameter changes. When the processing and storage device is executed, the automatic control method as described above is realized.

[0035] A sludge filter press cloth retracting and releasing automatic control device comprises a processor, a memory, an I / O interface and a communication interface, wherein the I / O interface is used to obtain data information, the communication interface is used to transmit data to the outside, a computer program is stored in the memory, and the computer program implements the automatic control method as described above when executed by the processor.

[0036] As a further solution of the present invention:.

[0037] Beneficial effects of the present invention:

[0038] (1) The present application optimizes the cloth-retracting and -releasing control mechanism of the sludge filter press to achieve efficient and stable automated operation. Different control strategies can be used for different working modes to automatically control the running speed of the cloth-retracting and -releasing rollers in real time to ensure that the sludge filter press can maintain a stable and efficient working state when performing cloth-retracting and -releasing operations;

[0039] (2) During the working process of the cloth-retracting and cloth-releasing rollers, the roller diameter of the cloth-retracting and cloth-releasing rollers will gradually increase during the cloth-retracting operation, and the roller diameter of the cloth-retracting and cloth-releasing rollers will gradually decrease during the cloth-releasing operation. During the cloth-retracting and cloth-releasing operation, the cloth-retracting and cloth-releasing operation is set according to the set execution roller cloth-retracting and cloth-releasing operation speed, so that the rotation speed of the cloth-retracting and cloth-releasing rollers is automatically adjusted and regulated along with the change of the roller diameter;

[0040] (3) The present application uses a distance sensor to measure the position of the tension roller. According to the different operation modes of collecting and releasing the cloth, the PID control of the cloth collecting and releasing roller adopts two modes, namely positive action and negative action. The tension roller is adjusted to make the filter cloth in a tension state during the collection and release process. The waist-shaped sliding groove is used to limit the travel of the tension roller, and finally the stable operation of the collection and release process is achieved;

[0041] (4) The cloth-retracting and cloth-unloading work of the sludge filter press is divided into three operation stages. The first stage is the start-up operation stage, and a tracking control strategy is adopted. During this process, the running speed of the cloth-retracting and cloth-unloading roller gradually reaches a speed that matches the execution roller; the second stage is the automatic operation stage, and a PID control strategy is adopted. Since the speed of the cloth-retracting and cloth-unloading roller in the previous stage has basically matched the speed of the execution roller, during the process of switching PID control, a stable control state can be reached quickly, and there will be no obvious fluctuation in the cloth-retracting and cloth-unloading speed, thereby making the cloth-retracting and cloth-unloading work more uniform and stable; the third stage is the completion operation stage, and the cloth-retracting and cloth-unloading roller distance measurement sensor is used to monitor the data in real time, and the cloth-retracting and cloth-unloading roller diameter size limit is compared to automatically terminate the cloth-retracting and cloth-unloading work of the sludge filter press. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present invention will be further described below in conjunction with the accompanying drawings.

[0043] Figure 1 It is a schematic flow chart of the automatic control method for collecting and releasing cloth of the sludge filter press in Example 1;

[0044] Figure 2 It is a schematic flow chart of the automatic control method for collecting and releasing cloth of the sludge filter press in Example 1 using a tracking control strategy and a PID control strategy applying a positive action or a negative action mechanism;

[0045] Figure 3 It is a schematic structural diagram of the automatic control device for retracting and releasing cloth of the sludge filter press in Example 2;

[0046] Figure 4 It is a block diagram of the automatic control system for the sludge filter press in Example 3;

[0047] Figure 5 It is a schematic diagram of the structure of the automatic control equipment for retracting and releasing the cloth of the sludge filter press in Example 4.

[0048] In the figure: 301, distance sensor for cloth-retracting and -releasing roller; 302, cloth-retracting and -releasing roller; 303, distance sensor for tension roller; 304, waist-shaped slide; 305, tension roller; 306, cloth-pressing roller; 307, filter cloth; 308, execution roller. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] In the description of the present invention, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention; in the description of the present invention, the meaning of "multiple" and "several" is at least two, for example two, three, etc., unless otherwise clearly and specifically defined.

[0051] Example 1

[0052] At the beginning and end of the production of the filter cloth 307 in industrial application scenarios, there are often applications related to rewinding and unwinding. It can be imagined that as the cloth roller 302 continues to be retracted, the number of filter cloth 307 layers wound on the corresponding cloth roller 302 continues to decrease, causing the roller diameter of the cloth roller 302 to continue to decrease; similarly, the number of filter cloth 307 layers wound on the corresponding cloth roller 302 continues to increase, causing the roller diameter of the roll to continue to increase. Since the change in roller diameter will affect the operating speed of the cloth roller 302, it is difficult to maintain a stable operating speed for the rewinding and unwinding operation of the filter cloth 307, affecting the efficiency of the rewinding and unwinding operation.

[0053] Therefore, please refer to Figure 1 and Figure 2 As shown, the present invention is an automatic control method for collecting and releasing cloth of a sludge filter press, comprising the following steps: acquiring real-time operating status data of an execution roller 308, a collecting and releasing cloth roller 302, and distance sensors 301 and 303, and intelligently judging the working mode and operating stage of collecting and releasing cloth of the sludge filter press; flexibly selecting and adjusting the operation control strategy of the collecting and releasing cloth roller 302 according to the current working mode and operating stage of collecting and releasing cloth of the sludge filter press; according to the selected control strategy, adopting an advanced dynamic control algorithm, automatically controlling the operation speed of the collecting and releasing cloth roller 302 in real time; acquiring the real-time roller diameter size of the collecting and releasing cloth roller 302 according to the distance sensor 301 of the collecting and releasing cloth roller, and automatically judging whether to terminate the collecting and releasing cloth work of the sludge filter press.

[0054] During the use of the automatic control method of the present application, the working mode of the sludge filter press can be pre-determined based on the real-time operating status data of the execution roller 308, the cloth collection and release roller 302, and the distance sensors 301 and 303. The working mode includes a cloth collection working mode or a cloth release working mode. In the cloth collection working mode, the number of layers of filter cloth 307 wound on the corresponding cloth collection and release roller 302 continues to increase. In the cloth release working mode, the number of layers of filter cloth 307 wound on the corresponding cloth collection and release roller 302 continues to decrease. Therefore, different control strategies can be used for different working modes to automatically control the operating speed of the cloth collection and release roller 302 in real time to ensure that the sludge filter press can maintain a stable and efficient working state when performing the cloth collection and release operation.

[0055] In this embodiment, obtaining the real-time operating status data of the execution roller 308, the cloth-retracting roller 302, and the distance sensors 301 and 303 includes: obtaining the operating speed and forward and reverse rotation status of the execution roller 308; obtaining the operating speed and forward and reverse rotation status of the cloth-retracting roller 302; obtaining the real-time roller diameter size of the cloth-retracting roller 302 and the remaining amount of the filter cloth 307 through the cloth-retracting roller distance sensor 301; obtaining the position distance of the end of the tension roller 305 in the waist-shaped slide groove 304 through the tension roller distance sensor 303; when obtaining the operating speed of the execution roller 308 in this step, the pressure The cloth roller 306 is used to compress the filter cloth 307, and together with the execution roller 308, drives the filter cloth 307 to run at a fixed speed, so as to achieve the effect of stable and uniform execution of cloth retracting and releasing. The roller diameter of the execution roller 308 is constant, and the angular velocity of rotation can be obtained by the rotary encoder, so as to obtain the running speed of the execution roller 308; in this step, the forward and reverse state data of the execution roller 308 is obtained to determine whether it is in the cloth releasing working mode or the cloth collecting working mode; in this step, the real-time monitoring data of the cloth retracting and releasing roller distance measuring sensor 301 can be used to determine whether the sludge filter press cloth retracting and releasing has ended the operation.

[0056] According to the real-time operating status data obtained above, the method for intelligently judging the working mode and operation stage of the cloth collecting and releasing of the sludge filter press includes: judging whether the cloth collecting and releasing working mode is in the cloth collecting mode or the cloth releasing mode, and whether the corresponding cloth collecting and releasing roller 302 is in the starting operation stage, the automatic operation stage and the completed operation stage in the cloth collecting mode or the cloth releasing mode.

[0057] The method for judging that the cloth-retracting and -releasing working mode is in the cloth-retracting mode and flexibly selecting and adjusting the operation control strategy of the cloth-retracting and -releasing roller 302 includes: the cloth-retracting and -releasing roller 302 is in the starting operation stage, the tracking control strategy is selected, and the feedback operation speed n of the execution roller 308 is set according to the feedback operation speed n of the execution roller 308. z After calculating and adjusting n downward, the calculated and set running speed N of the cloth-retracting and -releasing roller 302 is finally generated. b , cloth retracting roller 302 running speed N b The calculation formula is: In the formula, R b is the real-time radius of the cloth retracting roller 302, r z is the radius of the execution roller 308; when the feedback running speed of the execution roller 308 reaches the preset transfer speed, and the running speed of the cloth-retracting and -unloading roller 302 tracks the running speed of the execution roller 308 and changes stably, the total time is preset to X, and it is judged whether the running time of the cloth-retracting and -unloading roller 302 is greater than the preset total time of X. If it is greater, the cloth-retracting and -unloading roller 302 enters the automatic operation stage, otherwise, the cloth-retracting and -unloading roller 302 is in the starting operation stage; when the cloth-retracting and -unloading roller 302 is in the automatic operation stage, the PID control strategy is selected, and the advanced dynamic control algorithm is adopted to automatically control the running speed of the cloth-retracting and -unloading roller 302 in real time.

[0058] It should be understood that the value of n is determined according to the response time of the cloth-retracting and -releasing roller 302 and the stroke adjustment range of the tension roller 305, and is generally determined by the feedback running speed n of the execution roller 308. z 0-3% of the cloth-retracting roller 302, so that in the start-up operation stage, the operation speed of the cloth-retracting roller 302 can be calculated and set in real time according to the operation speed of the execution roller 308; from the start-up operation stage to the stable entry into the automatic operation stage, the total duration is preset to X, which is generally 3-6 seconds, to judge that the cloth-retracting roller 302 is stable in the automatic operation stage, so that the PID control strategy can be used to automatically control the operation speed of the cloth-retracting roller 302 in real time to meet the regulation needs.

[0059] In the cloth collecting mode, and the cloth collecting and releasing roller 302 is in the automatic operation stage, the method of using the PID control strategy to automatically control the running speed of the cloth collecting and releasing roller 302 in real time includes: obtaining the position distance of the end of the tension roller 305 in the waist-shaped slide groove 304 according to the tension roller distance sensor 303, applying the positive action mechanism, and adjusting the running speed of the cloth collecting and releasing roller 302 in real time, wherein the advanced dynamic control algorithm formula is: In the formula, ut is the output for adjusting the running speed of the cloth-retracting and releasing roller 302; e(t) is the position distance error of the tension roller 305; K p K is the proportional coefficient. According to the position distance error of the end of the tension roller 305 in the waist-shaped slide groove 304, the output intensity of the running speed of the cloth-retracting and releasing roller 302 is adjusted so that the actual position of the tension roller 305 quickly approaches the desired position. i K is the integral coefficient. According to the position distance error of the end of the tension roller 305 in the waist-shaped chute 304, the output deviation of the running speed of the cloth-retracting and releasing roller 302 is adjusted so that the actual position of the tension roller 305 can finally reach the desired position. d is a differential coefficient, and according to the position distance error of the end of the tension roller 305 in the waist-shaped slide groove 304, the output change of the running speed of the cloth-retracting and releasing roller 302 is adjusted, so that the actual position of the tension roller 305 is close to the desired position for a long time.

[0060] It should be understood that, in the cloth collecting mode, the principle of the positive action mechanism of the PID control strategy is as follows: the desired position of the tension roller 305 is set, and the position error between the real-time position of the tension roller 305 and the desired position is calculated; when the position error of the tension roller 305 shifts to a positive value, the PID control adjusts the running speed of the cloth collecting and releasing roller 302 to increase; when the position error of the tension roller 305 shifts to a negative value, the PID control adjusts the running speed of the cloth collecting and releasing roller 302 to decrease; finally, the tension roller 305 is placed in the desired position, thereby ensuring that the cloth collecting working mode is executed at a uniform and stable speed until the execution is completed and the work is stopped.

[0061] The method for judging that the cloth-retracting and -releasing working mode is in the cloth-releasing mode and flexibly selecting and adjusting the operation control strategy of the cloth-retracting and -releasing roller 302 includes: the cloth-retracting and -releasing roller 302 is in the starting operation stage, the tracking control strategy is selected, and the feedback operation speed n of the execution roller 308 is set according to the feedback operation speed n of the execution roller 308. z After calculating and adjusting m, the calculated and set running speed N of the cloth-retracting and -releasing roller 302 is finally generated. b , cloth retracting roller 302 running speed N b The calculation formula is: In the formula, R b is the real-time radius of the cloth retracting roller 302, r z is the radius of the execution roller 308; when the feedback running speed of the execution roller 308 reaches the preset transfer speed, and the running speed of the cloth-retracting and -unloading roller 302 tracks the stable change of the running speed of the execution roller 308, the total time is preset to X, and it is judged whether the running time of the cloth-retracting and -unloading roller 302 is greater than the preset total time of X. If it is greater, the cloth-retracting and -unloading roller 302 enters the automatic operation stage, otherwise, the cloth-retracting and -unloading roller 302 is in the starting operation stage; when the cloth-retracting and -unloading roller 302 is in the automatic operation stage, the PID control strategy is adopted, and the advanced dynamic control algorithm is adopted to automatically control the running speed of the cloth-retracting and -unloading roller 302 in real time.

[0062] It should be understood that the value of m is determined based on the response time of the cloth-retracting roller 302 and the stroke adjustment range of the tension roller 305, and is generally 0-3% of the feedback operating speed of the execution roller 308. Therefore, in the start-up operation stage, the operating speed of the cloth-retracting roller 302 can be calculated and set in real time according to the operating speed of the execution roller 308; from the start-up operation stage to the stable entry into the automatic operation stage, the total duration is preset to X, which is generally 3-6 seconds, to determine whether the cloth-retracting roller 302 is stably in the automatic operation stage, so that the PID control strategy can be used to automatically control the operating speed of the cloth-retracting roller 302 in real time to meet the regulation needs.

[0063] In the cloth placing mode, and the cloth taking-up and putting-down roller 302 is in the automatic operation stage, the method of using the PID control strategy to automatically control the running speed of the cloth taking-up and putting-down roller 302 in real time includes: obtaining the position distance of the end of the tension roller 305 in the waist-shaped slide groove 304 according to the tension roller distance sensor 303, applying the reaction mechanism, and adjusting the running speed of the cloth taking-up and putting-down roller 302 in real time, wherein the advanced dynamic control algorithm formula is: In the formula, ut is the output for adjusting the running speed of the cloth-retracting and releasing roller 302; e(t) is the position distance error of the tension roller 305; K p K is the proportional coefficient. According to the position distance error of the end of the tension roller 305 in the waist-shaped slide groove 304, the output intensity of the running speed of the cloth-retracting and releasing roller 302 is adjusted so that the actual position of the tension roller 305 quickly approaches the desired position. iK is the integral coefficient. According to the position distance error of the end of the tension roller 305 in the waist-shaped chute 304, the output deviation of the running speed of the cloth-retracting and releasing roller 302 is adjusted so that the actual position of the tension roller 305 can finally reach the desired position. d is a differential coefficient, and according to the position distance error of the end of the tension roller 305 in the waist-shaped slide groove 304, the output change of the running speed of the cloth-retracting and releasing roller 302 is adjusted, so that the actual position of the tension roller 305 is close to the desired position for a long time.

[0064] It should be understood that, in the cloth-releasing mode, the reaction mechanism principle of the PID control strategy is as follows: the desired position of the tension roller 305 is set, and the position error between the real-time position of the tension roller 305 and the desired position is calculated; when the position error of the tension roller 305 shifts to a positive value, the PID control adjusts the running speed of the cloth-releasing and retracting roller 302 to decrease; when the position error of the tension roller 305 shifts to a negative value, the PID control adjusts the running speed of the cloth-releasing and retracting roller 302 to increase; finally, the tension roller 305 is placed in the desired position, thereby ensuring that the cloth-retracting working mode is executed at a uniform and stable speed until the execution is completed and the work is stopped.

[0065] During the use of the automatic control method of the present application, the cloth-retracting roller 302, whether in the cloth-retracting working mode or the cloth-releasing working mode, needs to go through three operation stages. The first stage is the start-up operation stage, and the tracking control strategy is adopted, and the operation speed of the cloth-retracting roller 302 gradually reaches a speed that matches the operation speed of the execution roller 308. The second stage is the automatic operation stage, and the PID control strategy is adopted. At this time, the speed of the cloth-retracting roller 302 has basically matched the speed of the execution roller 308. In the process of switching the PID control method, it can quickly reach a stable control state, and there will be no obvious fluctuation in the speed of the filter cloth 307, so that the work of the filter cloth 307 is more uniform and stable; the third stage is the completion operation stage, through the cloth-retracting roller distance sensor 301 real-time monitoring data, and compared with the roller diameter size limit of the cloth-retracting roller, the cloth-retracting work of the sludge filter press is automatically executed.

[0066] Example 2

[0067] like Figure 3As shown, the present invention also provides an automatic control device for collecting and releasing cloth of a sludge filter press, comprising a collecting and releasing cloth roller 302, a tension roller 305, a cloth pressing roller 306 and an execution roller 308 for sequentially conveying and transferring filter cloth 307, a collecting and releasing cloth roller distance sensor 301 is provided on the outside of the collecting and releasing cloth roller 302, and the collecting and releasing cloth roller distance sensor 301 is used to measure the real-time roller diameter size of the collecting and releasing cloth roller 302 and the remaining amount of filter cloth 307, a tension roller distance sensor 303 is provided on the outside of the tension roller 305, and the tension roller distance sensor 303 is used to measure the position distance of the end of the tension roller 305 in the waist-shaped chute 304, and the execution roller 308 and the cloth pressing roller 306 drive the filter cloth 307 to perform the collecting and releasing work at a fixed running speed by pressing; wherein, when the collecting and releasing cloth roller 302 is in the collecting cloth mode or the releasing cloth mode, the automatic control method as in Example 1 is implemented.

[0068] During the use of the automatic control device, the working mode of the sludge filter press can be pre-determined based on the real-time operating status data of the execution roller 308, the cloth collection and release roller 302, and the distance sensors 301 and 303. The working mode includes a cloth collection working mode or a cloth release working mode. In the cloth collection working mode, the number of layers of filter cloth 307 wound on the corresponding cloth collection and release roller 302 continues to increase. In the cloth release working mode, the number of layers of filter cloth 307 wound on the corresponding cloth collection and release roller 302 continues to decrease. Therefore, different control strategies can be used for different working modes to automatically control the operating speed of the cloth collection and release roller 302 in real time to ensure that the sludge filter press can maintain a stable and efficient working state when performing cloth collection and release operations.

[0069] Example 3

[0070] like Figure 4 As shown, the present invention also provides an automatic control system for releasing and retracting cloth of a sludge filter press, comprising a cloth retracting and releasing cloth roller distance sensor 301 for measuring the real-time roller diameter size of the cloth retracting and releasing cloth roller 302 and the remaining amount of filter cloth 307, a tension roller distance sensor 303 for measuring the position distance of the end of the tension roller 305 in the waist-shaped slide groove 304, an execution roller 308 for controlling the retraction and release of the filter cloth 307 to run at a fixed speed, and a cloth retracting and releasing cloth roller 302 for controlling the rotation speed to automatically adapt to the cloth retracting and releasing work and processing storage equipment as the roller diameter changes. When the processing storage equipment is executed, the automatic control method as in Example 1 is implemented.

[0071] During the use of this automatic control system, the working mode of the sludge filter press can be pre-determined based on the real-time operating status data of the execution roller 308, the cloth collection and release roller 302, and the distance sensors 301 and 303. The working mode includes a cloth collection working mode or a cloth release working mode. In the cloth collection working mode, the number of layers of filter cloth 307 wound on the corresponding cloth collection and release roller 302 continues to increase. In the cloth release working mode, the number of layers of filter cloth 307 wound on the corresponding cloth collection and release roller 302 continues to decrease. Therefore, different control strategies can be used for different working modes to automatically control the operating speed of the cloth collection and release roller 302 in real time to ensure that the sludge filter press can maintain a stable and efficient working state when performing cloth collection and release operations.

[0072] Example 4

[0073] like Figure 5 As shown, the present invention also provides an automatic control device for releasing and retracting cloth of a sludge filter press, comprising a processor, a memory, an I / O interface and a communication interface, the I / O interface is used to obtain data information, the communication interface is used to transmit data to the outside, a computer program is stored in the memory, and when the computer program is executed by the processor, the automatic control method as in Example 1 is implemented.

[0074] During the use of this automatic control equipment, the working mode of the sludge filter press can be pre-determined based on the real-time operating status data of the execution roller 308, the cloth collection and release roller 302 and the distance measuring sensors 301 and 302. The working mode includes a cloth collection working mode or a cloth release working mode. In the cloth collection working mode, the number of layers of filter cloth 307 wound on the corresponding cloth collection and release roller 302 continues to increase. In the cloth release working mode, the number of layers of filter cloth 307 wound on the corresponding cloth collection and release roller 302 continues to decrease. Therefore, different control strategies can be used for different working modes to automatically control the operating speed of the cloth collection and release roller 302 in real time to ensure that the sludge filter press can maintain a stable and efficient working state when performing cloth collection and release operations.

[0075] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A method for automatically controlling the release and retraction of a sludge filter press, characterized in that: The following steps are involved: Acquire the real-time operation status data of the execution roller (308), the cloth-retracting roller (302) and the distance-measuring sensor, and intelligently judge the operation mode and operation stage of the cloth-retracting roller of the sludge filter press; According to the current working mode and operation stage of the cloth retracting and releasing of the sludge filter press, the operation control strategy of the cloth retracting and releasing roller (302) is flexibly selected and adjusted; According to the selected control strategy, an advanced dynamic control algorithm is adopted to automatically control the running speed of the cloth-retracting and -releasing roller (302) in real time; The cloth retracting and releasing roller (302) real-time roller diameter size is obtained according to the cloth retracting and releasing roller distance measuring sensor (301), and it is automatically determined whether to terminate the cloth retracting and releasing work of the sludge filter press.

2. The automatic control method for releasing and collecting cloth of a sludge filter press according to claim 1 is characterized in that: Acquiring real-time operating status data of the execution roller (308), the cloth-retracting and -releasing roller (302) and the distance-measuring sensor includes: Obtaining the running speed and forward and reverse rotation status of the execution roller (308); Obtaining the running speed and forward and reverse rotation status of the cloth-retracting and -releasing roller (302); Acquiring the real-time roller diameter of the retractable cloth roller (302) and the remaining amount of the filter cloth (307) through a retractable cloth roller distance measuring sensor (301); The position distance of the end of the tension roller (305) in the waist-shaped slide groove (304) is obtained through the tension roller distance measuring sensor (303).

3. The automatic control method for releasing and collecting cloth of a sludge filter press according to claim 1 is characterized in that: The method for intelligently judging the working mode and operation stage of the cloth collecting and releasing of the sludge filter press comprises: judging whether the cloth collecting and releasing working mode is in the cloth collecting mode or the cloth releasing mode, and whether the corresponding cloth collecting and releasing roller (302) is in the starting operation stage, the automatic operation stage and the completion operation stage in the cloth collecting mode or the cloth releasing mode.

4. The automatic control method for releasing and collecting cloth of a sludge filter press according to claim 3 is characterized in that: Methods for determining the working mode of retracting and releasing cloth include: The cloth-releasing and -retracting working mode is automatically determined based on the forward and reverse rotation state data of the execution roller (308); when the execution roller (308) is in the forward rotation state, it is determined to be the cloth-releasing working mode, and the cloth-releasing and -retracting roller (302) is set to the forward rotation state; when the execution roller (308) is in the reverse rotation state, it is determined to be the cloth-retracting working mode, and the cloth-releasing and -retracting roller (302) is set to the reverse rotation state.

5. The automatic control method for releasing and collecting cloth of a sludge filter press according to claim 4 is characterized in that: The method for judging that the cloth collecting and releasing working mode is in the cloth collecting mode and flexibly selecting and adjusting the operation control strategy of the cloth collecting and releasing roller (302) comprises: The cloth-retracting and unreeling roller (302) is in the start-up operation stage, and a tracking control strategy is selected to feedback the running speed n according to the real-time acquired execution roller (308). z After calculating and adjusting n downward, the calculated and set running speed N of the cloth-retracting and -releasing roller (302) is finally generated. b , the cloth retracting and releasing roller (302) running speed N b The calculation formula is: In the formula, R b is the real-time radius of the cloth retracting and releasing roller (302), r z for the radius of the execution roller (308); When the feedback running speed of the execution roller (308) reaches the preset transfer speed, and the running speed of the cloth-retracting and -releasing roller (302) tracks the running speed of the execution roller (308) and changes stably, the total time is preset to X, and it is judged whether the running time of the cloth-retracting and -releasing roller (302) is greater than the preset total time X. If it is greater, the cloth-retracting and -releasing roller (302) enters the automatic operation stage, otherwise, the cloth-retracting and -releasing roller (302) is in the start-up operation stage; The cloth-retracting and -releasing roller (302) is in the automatic operation stage, and a PID control strategy is selected, and an advanced dynamic control algorithm is adopted to automatically control the running speed of the cloth-retracting and -releasing roller (302) in real time.

6. The automatic control method for releasing and collecting cloth of a sludge filter press according to claim 5 is characterized in that: In the cloth collecting mode, and the cloth collecting and releasing roller (302) is in the automatic operation stage, the method of using the PID control strategy to automatically control the running speed of the cloth collecting and releasing roller (302) in real time includes: obtaining the position distance of the end of the tension roller (305) in the waist-shaped slide groove (304) according to the tension roller distance sensor (303), applying the positive action mechanism, and adjusting the running speed of the cloth collecting and releasing roller (302) in real time, wherein the advanced dynamic control algorithm formula is: In the formula, u(t) is the output for adjusting the running speed of the cloth-retracting and releasing roller (302); e(t) is the position distance error of the tension roller (305); K p K is a proportionality coefficient, and according to the position distance error of the end of the tension roller (305) in the waist-shaped slide groove (304), the output intensity of the running speed of the cloth-retracting and releasing roller (302) is adjusted, so that the actual position of the tension roller (305) quickly approaches the desired position; i K is an integral coefficient, and according to the position distance error of the end of the tension roller (305) in the waist-shaped slide groove (304), the output deviation of the running speed of the cloth-retracting and releasing roller (302) is adjusted so that the actual position of the tension roller (305) can eventually reach the desired position; d is a differential coefficient, and according to the position distance error of the end of the tension roller (305) in the waist-shaped slide groove (304), the output change of the running speed of the cloth-retracting and releasing roller (302) is adjusted, so that the actual position of the tension roller (305) is close to the expected position for a long time.

7. The automatic control method for releasing and collecting cloth of a sludge filter press according to claim 4 is characterized in that: The method for judging that the cloth-retracting and -releasing working mode is in the cloth-releasing mode and flexibly selecting and adjusting the operation control strategy of the cloth-retracting and -releasing roller (302) comprises: The cloth-retracting and unreeling roller (302) is in the start-up operation stage, and a tracking control strategy is selected to feedback the running speed n according to the real-time acquired execution roller (308). z After calculating and adjusting m, the running speed N of the cloth-retracting and cloth-releasing roller (302) is finally generated and calculated and set. b , the cloth retracting and releasing roller (302) running speed N b The calculation formula is: In the formula, R b is the real-time radius of the cloth retracting and releasing roller (302), r z for the radius of the execution roller (308); When the feedback running speed of the execution roller (308) reaches the preset transfer speed, and the running speed of the cloth-retracting and -releasing roller (302) tracks the running speed of the execution roller (308) and changes stably, the total time is preset to X, and it is judged whether the running time of the cloth-retracting and -releasing roller (302) is greater than the preset total time X. If it is greater, the cloth-retracting and -releasing roller (302) enters the automatic operation stage, otherwise, the cloth-retracting and -releasing roller (302) is in the start-up operation stage; The cloth-retracting and -releasing roller (302) is in the automatic operation stage, and a PID control strategy is selected, and an advanced dynamic control algorithm is adopted to automatically control the running speed of the cloth-retracting and -releasing roller (302) in real time.

8. The automatic control method for releasing and collecting cloth of a sludge filter press according to claim 7 is characterized in that: In the cloth placing mode, and the cloth taking-up and taking-up roller (302) is in the automatic operation stage, the method of selecting the PID control strategy to automatically control the running speed of the cloth taking-up and taking-up roller (302) in real time includes: obtaining the position distance of the end of the tension roller (305) in the waist-shaped slide groove (304) according to the tension roller distance sensor (303), applying the reaction mechanism, and adjusting the running speed of the cloth taking-up and taking-up roller (302) in real time, wherein the advanced dynamic control algorithm formula is: In the formula, u(t) is the output for adjusting the running speed of the cloth-retracting and releasing roller (302); e(t) is the position distance error of the tension roller (305); K p K is a proportionality coefficient, and according to the position distance error of the end of the tension roller (305) in the waist-shaped slide groove (304), the output intensity of the running speed of the cloth-retracting and releasing roller (302) is adjusted, so that the actual position of the tension roller (305) quickly approaches the desired position; i K is an integral coefficient, and according to the position distance error of the end of the tension roller (305) in the waist-shaped slide groove (304), the output deviation of the running speed of the cloth-retracting and releasing roller (302) is adjusted so that the actual position of the tension roller (305) can eventually reach the desired position; d is a differential coefficient, and according to the position distance error of the end of the tension roller (305) in the waist-shaped slide groove (304), the output change of the running speed of the cloth-retracting and releasing roller (302) is adjusted, so that the actual position of the tension roller (305) is close to the expected position for a long time.

9. The automatic control method for releasing and collecting cloth of a sludge filter press according to claim 1, characterized in that: The method for automatically judging whether to terminate the cloth collection and release work of the sludge filter press includes: In the cloth placing mode, set the lower limit value D of the roller diameter of the cloth placing and retracting roller (302) lower , when the real-time value of the cloth roller distance sensor (301) is less than D lower , it is determined that the cloth-releasing roller (302) has completed the operation stage, and the cloth-releasing work of the sludge filter press is automatically terminated; In cloth collecting mode, set the upper limit value D of the roller diameter of the cloth collecting and releasing roller (302) upper When the real-time value of the cloth roller distance sensor (301) is greater than D upper , it is determined that the cloth-retracting and releasing roller (302) has completed the operation stage, and the cloth-retracting work of the sludge filter press is automatically terminated.

10. An automatic control device for releasing and collecting cloth of a sludge filter press, characterized in that: The invention comprises a cloth-retracting roller (302), a tension roller (305), a cloth-pressing roller (306) and an execution roller (308) for sequentially conveying and transferring a filter cloth (307); a cloth-retracting roller distance sensor (301) is arranged outside the cloth-retracting roller (302); the cloth-retracting roller distance sensor (301) is used to measure the real-time roller diameter of the cloth-retracting roller (302) and the remaining amount of the filter cloth (307); a tension roller distance sensor (303) is arranged outside the tension roller (305); the tension roller distance sensor (303) is used to measure the position distance of the end of the tension roller (305) in a waist-shaped chute (304); the execution roller (308) and the cloth-pressing roller (306) drive the filter cloth (307) by pressing to perform cloth-retracting and cloth-retracting work at a fixed running speed; When the cloth-retracting and -releasing roller (302) is in the cloth-retracting mode or the cloth-releasing mode, the automatic control method according to any one of claims 1 to 9 is implemented.

11. An automatic control system for releasing and collecting cloth of a sludge filter press, characterized in that: The invention comprises a cloth retracting and releasing cloth roller distance sensor (301) for measuring the real-time roller diameter size of the cloth retracting and releasing cloth roller (302) and the remaining amount of the filter cloth (307), a tension roller distance sensor (303) for measuring the position distance of the end of the tension roller (305) in the waist-shaped slide groove (304), an execution roller (308) for controlling the retracting and releasing of the filter cloth (307) to run at a fixed speed, and a processing and storage device. When the processing and storage device is executed, the automatic control method according to any one of claims 1 to 9 is realized.

12. An automatic control device for collecting and releasing cloth of a sludge filter press, characterized in that: It includes a processor, a memory, an I / O interface and a communication interface, the I / O interface is used to obtain data information, the communication interface is used to transmit data to the outside, the memory stores a computer program, and when the computer program is executed by the processor, it implements the automatic control method as described in any one of claims 1 to 9.

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